dcsam-examples

This repository contains example code for the experiments provided in our paper "Discrete-Continuous Smoothing and Mapping."

NOTE: As of 1/30/2023 the latest version of DC-SAM (and dcsam-examples) on main depends on GTSAM release 4.2a8. If you are using GTSAM 4.1.1, check out our pre-4.2 release tag and the corresponding pre-4.2 version of DC-SAM. This is the version of DC-SAM (and dcsam-examples) you would have used if you cloned the repository prior to 1/30/2023. Many thanks to Parker Lusk for bringing us into the future.

The file icp.cpp implements the iterative closest point (ICP) method for point cloud registration.

The file robust_pgo_mc.cpp implements robust pose-graph optimization by introducing inlier/outlier discrete hypotheses for untrusted loop closure edges.

To build the ICP and robust PGO examples:

~ $ mkdir build
~ $ cd build
~/build $ cmake ..
~/build $ make -j

To run the ICP example:

~/build/examples $ ./icp (path to source cloud) (path to target cloud)

To run the robust pose-graph optimization example:

~/build/examples $ ./robust_pgo_mc [.g2o file] [outlier rate (int >= 0; default 0)] [is3D (0/1; default 1)] [num trials (default 1)]